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Hello Everyone, I am trying to calculate the volume of octomap generated in octomap_server. Also I only want to calculate the volume containing occupied voxels(not the empty ones). Also some voxels overlap each other. So any thoughts on calculate the the volume?. Thank you.
That's quite easy if I understand it correctly and you want to compute the volume occupied by all occupied voxels. Just use a leaf_iterator in OctoMap to iterate over all leaf nodes. Then check whether the node is occupied (tree.isNodeOccupied(*it)), get the side length of the current voxel (it.getSize()) and compute the volume from it.
I'm not sure what you mean with "some voxels overlap". Leaf nodes in the octree cannot overlap.
Don't use the topic "occupied_cells_vis_array" unless you need a basic visualization, it's inefficient. Check the documentation of octomap_server, it is publishing the map as octomap_msgs::Octomap. You can deserialize the message with the conversion header in the octomap_msgs package.
Asked: 2014-04-05 18:10:03 -0500
Seen: 1,226 times
Last updated: Apr 07 '14
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Don't change your question and replace it with a completely different one! Leave your questions for future reference and post a new one if it's not an addition or clarification on your original question.
Sorry about that. I have re-posted the new question, here http://answers.ros.org/question/150731/iterating-through-leaves-in-an-octomap/. Please share your thoughts on that. Thank you.